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IEEE Conference on Emerging Technologies and Factory Automation

作者： A. Sanchez-Fernandez M. J. Fuente G. I. Sainz-Palmero Department of System Engineering and Automatic Control EII University of Valladolid

ISBN: (纸本)9781467379304

This paper proposes a distributed fault detection and diagnosis method based on Principal Component Analysis (PCA) in a whole plant monitoring scheme. The method is based on the decomposition of the plant into multiple blocks using plant topology. A local PCA based fault detection method is applied in each block and the results are sent to the central node to fuse the information and to detect and diagnose faults in the global plant. This method is compared with the centralized PCA method and some distributed principal component analysis (DPCA) methods in a wastewater treatment plant (WWTP). The objective is to check which of the distributed methods implemented is the best one in terms of detecting faults and minimizing the communication cost between the blocks. Empirical results on the WWTP show that the DPCA method based on local models has very good results.

关键词： Defect detection Sewage treatment plants principal components analysis Passive Cutaneous Anaphylaxis Set of central axillary lymph nodes dichlormid Distribute faults plants

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Separable Nonlinear Model Predictive control via Sequential Quadratic Programming for Large-scale systems *

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IFAC-PapersOnLine 2015年第23期48卷 495-500页

作者： Liang Lu Department of Chemical and Biomolecular Engineering (BK21 Plus Program) Korea Advanced Institute of Science & Technology Daejeon Korea. Laboratory for Automatic Control and System Dynamics Technische Universität Chemnitz Chemnitz Germany.

In this paper, a sequential quadratic programming method is presented for largescale nonlinear and possibly non-convex model predictive control (MPC) optimization problem which is often set up with a separable objective function. By introducing the so-call consensus constraints to separate the couplings among the subsystems. The resulting QP subproblem is formulated in a separable form, which makes it possible to use the existing alternating direction methods, like ADMM, to efficiently compute Newton steps for the overall system in a distributed way. In order to enforce the convergence rate of the distributed computation, a distributed line search with local merit functions is also proposed.

关键词： Sequential quadratic programming separable model predictive control alternating direction method of multipliers nonlinear systems non-convex optimization large-scale optimization distributed line search

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A microgrid library in a general simulation language 19

A microgrid library in a general simulation language

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Salazar, J. Tadeo, F. De Prada, C. Department of System Engineering and Automatic Control School of Industrial Engineering University of Valladolid Valladolid47011 Spain

ISBN: (纸本)9783902823625

A library in the EcosimPro environment, developed with the objective of providing the tools needed to integrate MicroGrids into multi-domain simulations is presented. Thus, practical simulated components of renewable energy sources (photovoltaic arrays, wind turbines), diesel generators, power electronic interfaces (DC/AC or AC/DC/AC), energy storage devices (batteries) are developed, in order to integrate them with the existing libraries of loads (such as electrical systems, hydraulic systems, chemical engineering process, etc). Components in the library are designed so they can be parametrized from data sheet information by general engineers, and then graphically connected to simulate under variable conditions specific real-life Microgrids. With this, different configurations and control strategies for Microgrids can be tested when operating on the real process. After presenting the main ideas behind the dynamic modelling of the components, the application to a case study is presented. © IFAC.

关键词： Digital libraries

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Feedforward and feedback control of dynamic systems 19

Feedforward and feedback control of dynamic systems

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Hu, Wuhua Camacho, Eduardo F. Xie, Lihua School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Department of System Engineering and Automatic Control Escuela Superior de Ingenieros University of Sevilla Spain

ISBN: (纸本)9783902823625

Recently the control methods based on disturbance rejection have largely renewed our understanding of automatic control, especially the role of feedforward control. With the renewed understanding, this work presents a feedforward and feedback approach for control of general dynamic systems under a state tracking framework. This is realized by introducing a fictitious system model and employing a proper state and disturbance estimator. The resultant control scheme embodies a close cooperation between feedforward and feedback controls: Feedforward control rejects the general disturbance and embeds a reference state trajectory, whilst feedback control cancels the fictitious dynamics and enforces desired tracking error dynamics. A notable advantage of the approach is that control designs of linear and nonlinear systems can follow a common routine and the closed-loop stability is guaranteed under standard conditions. © IFAC.

关键词： Closed loop control systems

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Modelling and control of a semi-active suspension system

Modelling and control of a semi-active suspension system

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作者： Colina, A. Lerma, G. Cabanes, I. Iglesias, I. Department of Automatic Control and System Engineering University of the Basque Country Spain Industry and Transport Division Vehicle Dynamics Group Tecnalia Research and Innovation Spain

ISBN: (纸本)9789400774841

The suspension system is composed of several deformable elements such as springs and dampers, which connect the car body to wheels and absorb vibrations generated by road irregularities. The main purpose of suspension system is to isolate the vehicle body from disturbances in order to keep wheels in contact with the road surface to contribute to road holding, and in order to maximize passenger ride comfort. This paper describes a semi-active suspension system of 2 degrees of freedom (2DOF), typically referred to as a quarter car model. To design a suspension control system that improve ride comfort, dynamic modelling of semi-active suspension was developed. control strategies were implemented for these semi-active suspension systems using MATLAB® and Simulink® software. The results show that the semi-active suspension system controlled by a logical strategy minimizes vertical acceleration experienced by passengers, compared to passive suspension system. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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A Microgrid Library in a General Simulation Language

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IFAC Proceedings Volumes 2014年第3期47卷 3599-3604页

作者： J. Salazar F. Tadeo C. de Prada Department of System Engineering and Automatic Control School of Industrial Engineering University of Valladolid 47011 Valladolid Spain

关键词： MicroGrid Photovoltaic Arrays Wind Turbine Simulation Tools

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A model-based approach for achieving available automation systems 19

A model-based approach for achieving available automation sy...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Priego, R. Armentia, A. Orive, D. Estévez, E. Marcos, M. University of the Basque Country Department of System Engineering and Automatics Bilbao48013 Spain Universidad de Jaén Dept. of Electronics and Automatic Control Jaen Spain

ISBN: (纸本)9783902823625

Nowadays automation systems are required to be flexible in order to cope with the ever changing requirements of the applications in terms of complexity, extensibility or dynamism. The use of reconfiguration techniques helps to meet these demanding requirements, but at the same time increase the complexity of the systems. This paper presents a supervisor architecture that allows maintaining the availability of a control system in spite of failures such as a node crash, by means of reconfigurations at the control level. To do this, the advantages that Model-Driven Development technology provides have been explored. © IFAC.

关键词： Automation

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Recognition of surfaces based on haptic information using self-organizing maps

Recognition of surfaces based on haptic information using se...

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作者： Nakano, Tomohiro Johansson, Rolf Ohnishi, Kouhei Graduate School of Science and Technology Keio University Yokohama Japan Department of Automatic Control Lund University Lund Sweden Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781479940325

This paper proposes a new surface recognition method by a robot. Nowadays, demands for 'Real World Haptics' are increasing. Tactile sensation which is acquired by rubbing motion is important for haptics. Therefore, surface recognition based on haptic information is focused in this paper. First, the surface sensing is needed to collect feature values. There are some researches which focus on sensing and analysis of surface tactile information by using sensors with robots. However, there are some disadvantages of using sensors such as signal noise. From that reason, this paper proposes getting surface haptic information without sensors at the tip of the robot. Second, a pattern recognition method needs to be applied for surface recognition. There are some pattern recognition methods. Self-organizing maps (SOM) is one of the solutions. SOM is able to summarize high dimensional data to low dimension with preserving the topological properties of data. SOM is suitable for multi-class recognition. From these reasons, this paper proposes the surface recognition based on haptic information using SOM. Multi class surface recognition is achieved by the proposed method. The validity of the proposed method was confirmed through 7 surface recognition experiments. © 2014 IEEE.

关键词： Self organizing maps

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Impact of dynamically moving payload on two wheeled robot stability

Impact of dynamically moving payload on two wheeled robot st...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： O. K. Sayidmarie M. O. Tokhi S. A. Agouri Department of Automatic Control and System Engineering The University of Sheffield Sheffield

In real life applications, two wheeled robots are considered to carry payloads of different sizes at different positions or different motion speeds along the vertical axis. Such parameters will have an impact on the robot stability and the control mechanism, hence their detailed study is essential for robust performance of the system. This paper investigates the impact of the dynamical change of the payload position on the system damping characteristics while the robot is in its balancing state.

关键词： Mobile robots Payloads Robot sensing systems Wheels DC motors Accelerometers

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Optimization of fuzzy logic scaling parameters with spiral dynamic algorithm in controlling a stair climbing wheelchair: Ascending task

Optimization of fuzzy logic scaling parameters with spiral d...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： N. M. A Ghani A. N. K Nasir M. O. Tokhi Department of Automatic Control and System Engineering The University of Sheffield UK

In this work, a new approach based on spiral dynamic algorithm (SDA) is implemented to optimize the input output of fuzzy scaling factors of a stair ascending operation using a wheelchair. The ascending task is done automatically using interchangeable phases control structure using modular fuzzy logic (IPFL). The value obtained from the SDA optimization is compared with heuristic gain value to access the performance of the stair climbing operation. The proposed approach has improved the climbing performance in terms of minimizing the error of seat/tilt angle for user's comfort while reducing the settling time of the ascending operation.

关键词： Wheelchairs Wheels Spirals Optimization Heuristic algorithms Visualization Niobium

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